eprintid: 10043086
rev_number: 25
eprint_status: archive
userid: 608
dir: disk0/10/04/30/86
datestamp: 2018-02-13 10:38:48
lastmod: 2022-01-11 00:09:40
status_changed: 2018-02-13 10:38:48
type: article
metadata_visibility: show
creators_name: Koulaouzidis, A
creators_name: Iakovidis, DK
creators_name: Yung, DE
creators_name: Mazomenos, E
creators_name: Bianchi, F
creators_name: Karagyris, A
creators_name: Dimas, G
creators_name: Stoyanov, D
creators_name: Thorlacius, H
creators_name: Toth, E
creators_name: Ciuti, G
title: Novel experimental and software methods for image reconstruction and localization in capsule endoscopy
ispublished: pub
divisions: UCL
divisions: B04
divisions: C05
divisions: F48
divisions: F42
note: This article is published under a Creative Commons licence CC BY-NC-ND 4.0.
abstract: BACKGROUND AND STUDY AIMS: Capsule endoscopy (CE) is invaluable for minimally invasive endoscopy of the gastrointestinal tract; however, several technological limitations remain including lack of reliable lesion localization. We present an approach to 3D reconstruction and localization using visual information from 2D CE images. PATIENTS AND METHODS: Colored thumbtacks were secured in rows to the internal wall of a LifeLike bowel model. A PillCam SB3 was calibrated and navigated linearly through the lumen by a high-precision robotic arm. The motion estimation algorithm used data (light falling on the object, fraction of reflected light and surface geometry) from 2D CE images in the video sequence to achieve 3D reconstruction of the bowel model at various frames. The ORB-SLAM technique was used for 3D reconstruction and CE localization within the reconstructed model. This algorithm compared pairs of points between images for reconstruction and localization. RESULTS:  As the capsule moved through the model bowel 42 to 66 video frames were obtained per pass. Mean absolute error in the estimated distance travelled by the CE was 4.1 ± 3.9 cm. Our algorithm was able to reconstruct the cylindrical shape of the model bowel with details of the attached thumbtacks. ORB-SLAM successfully reconstructed the bowel wall from simultaneous frames of the CE video. The "track" in the reconstruction corresponded well with the linear forwards-backwards movement of the capsule through the model lumen. CONCLUSION:  The reconstruction methods, detailed above, were able to achieve good quality reconstruction of the bowel model and localization of the capsule trajectory using information from the CE video and images alone.
date: 2018-02
date_type: published
official_url: http://dx.doi.org/10.1055/s-0043-121882
oa_status: green
full_text_type: pub
pmcid: PMC5794451
language: eng
primo: open
primo_central: open_green
article_type_text: Journal Article
verified: verified_manual
elements_id: 1533291
doi: 10.1055/s-0043-121882
lyricists_name: Mazomenos, Evangelos
lyricists_name: Stoyanov, Danail
lyricists_id: EMAZO45
lyricists_id: DSTOY26
actors_name: Stoyanov, Danail
actors_id: DSTOY26
actors_role: owner
full_text_status: public
publication: Endoscopy International Open
volume: 6
number: 2
pagerange: E205-E210
event_location: Germany
issn: 2364-3722
citation:        Koulaouzidis, A;    Iakovidis, DK;    Yung, DE;    Mazomenos, E;    Bianchi, F;    Karagyris, A;    Dimas, G;                 ... Ciuti, G; + view all <#>        Koulaouzidis, A;  Iakovidis, DK;  Yung, DE;  Mazomenos, E;  Bianchi, F;  Karagyris, A;  Dimas, G;  Stoyanov, D;  Thorlacius, H;  Toth, E;  Ciuti, G;   - view fewer <#>    (2018)    Novel experimental and software methods for image reconstruction and localization in capsule endoscopy.                   Endoscopy International Open , 6  (2)   E205-E210.    10.1055/s-0043-121882 <https://doi.org/10.1055/s-0043-121882>.       Green open access   
 
document_url: https://discovery.ucl.ac.uk/id/eprint/10043086/1/Novel%20experimental%20and%20software%20methods%20for%20image%20reconstruction%20and%20localization%20in%20capsule%20endoscopy.pdf